Title
Mobile camera localization using Apollonius circles and virtual landmarks Mobile camera localization using Apollonius circles and virtual landmarks
Author
Faculty/Department
Faculty of Sciences. Mathematics and Computer Science
Publication type
article
Publication
Dordrecht ,
Subject
Mathematics
Engineering sciences. Technology
Source (journal)
Journal of intelligent and robotic systems: theory and applications. - Dordrecht
Volume/pages
58(2010) :3/4 , p. 287-308
ISSN
0921-0296
ISI
000277024200005
Carrier
E
Target language
English (eng)
Full text (Publishers DOI)
Affiliation
University of Antwerp
Abstract
We investigate the localization of a camera subject to a planar motion with horizontal optical axis in the presence of known vertical landmarks. Under these assumptions, a calibrated camera can measure the distance to the viewed landmarks. We propose to replace the trilateration method by intersecting a pair of Chasles-Apollonius circles. In the case of square pixels but unknown focal length we introduce a new method to recover the camera position from one image with three vertical landmarks. To this end we consider virtual landmarks and Apollonius-like circles. We extend this method in order to deal with an unknown principal point by using four landmarks.
E-info
https://repository.uantwerpen.be/docman/iruaauth/128e2f/07ea9f116aa.pdf
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